Home > General-Functions > SUGR > Homography_2D > sugr_get_Euclidean_Homography_2D.m

sugr_get_Euclidean_Homography_2D

PURPOSE ^

% Euclideanly normalized 2D homography

SYNOPSIS ^

function [He,Cee] = sugr_get_Euclidean_Homography_2D(H)

DESCRIPTION ^

% Euclideanly normalized 2D homography
 for quasi affine homographies w.r.t. disk around origin.

 [He,Cee] = sugr_get_isaffine_Homography(H)


 Wolfgang Förstner
 wfoerstn@uni-bonn.de

 wf 2/2011

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %% Euclideanly normalized 2D homography
0002 % for quasi affine homographies w.r.t. disk around origin.
0003 %
0004 % [He,Cee] = sugr_get_isaffine_Homography(H)
0005 %
0006 %
0007 % Wolfgang Förstner
0008 % wfoerstn@uni-bonn.de
0009 %
0010 % wf 2/2011
0011 
0012 function [He,Cee] = sugr_get_Euclidean_Homography_2D(H)
0013 
0014 if sugr_get_isquasiaffine_Homography_2D(H)
0015     He      = H.H/H.H(9);                            % Euclidean normalization
0016     Jhe     = 1/H.H(9) * [eye(8) -H.H(1:8)'/H.H(9)]; % Jacobian h->e
0017     Chh     = sugr_get_CovM_homogeneous_Homography_2D(H);
0018                                                      % CovM of vec H
0019     Cee     = Jhe * Chh * Jhe';                      % CovM of vec He
0020 else
0021     He      = zeros(3);
0022     Cee     = zeros(9);
0023 end

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